cooooolRobot commited on
Commit
e09477c
·
verified ·
1 Parent(s): 9661d1e

Upload 16 files

Browse files
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:888ce023cec3a81669a48568b9725592210ef0df0f281f4e6d4475f2feb58f54
3
+ size 129791
data/chunk-000/episode_000001.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8ceb872c6ed27d7cd4d0f57459fde5c33ed69f847c9395dc22cd7b6e55ee05ee
3
+ size 74178
data/chunk-000/episode_000002.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50b30fc68ed1d39c588ccea14c85c7a09c358159f806b7f8f5051547e2fcb33a
3
+ size 89231
meta/episodes.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "tasks": ["anonymous task"], "length": 1000}
2
+ {"episode_index": 1, "tasks": ["anonymous task"], "length": 557}
3
+ {"episode_index": 2, "tasks": ["anonymous task"], "length": 672}
meta/episodes_stats.jsonl ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {"episode_index": 0, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4702171390919833]], [[0.4879293335271962]], [[0.45543624104538233]]], "std": [[[0.20841816210434252]], [[0.21490656573119743]], [[0.2231681296196209]]], "count": [177]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5544033997544404]], [[0.5729285926941398]], [[0.49267115205309997]]], "std": [[[0.2416645664512051]], [[0.2517987506817243]], [[0.2863877974451574]]], "count": [177]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5246838696872346]], [[0.538783427495292]], [[0.49586831865514563]]], "std": [[[0.3013117037776974]], [[0.3140078054726205]], [[0.33031173656123614]]], "count": [177]}, "state": {"min": [-0.0555046908557415, -2.0654993057250977, 0.41103988885879517, 1.2628748416900635, -0.9218356609344482, -1.6786831617355347, 0.0003640977665781975, -0.7192721366882324, -1.7904554605484009, 0.28400853276252747, 0.8031967878341675, -0.8615625500679016, -1.8167773485183716, 0.0005703350179828703], "max": [0.5491340756416321, -0.2637903392314911, 1.568055272102356, 2.648012399673462, 0.9893568158149719, -1.0591669082641602, 0.06923575699329376, 0.41142138838768005, -0.0024795911740511656, 1.504348874092102, 1.3838025331497192, -0.11272602528333664, -0.7856488823890686, 0.0683273896574974], "mean": [0.18957586586475372, -1.3740545511245728, 1.0312855243682861, 1.8525211811065674, -0.3423493504524231, -1.5265271663665771, 0.059573136270046234, -0.024748845025897026, -0.6351470351219177, 0.7334308624267578, 1.07079017162323, -0.5150141716003418, -1.4678107500076294, 0.040069255977869034], "std": [0.2075364589691162, 0.4848979413509369, 0.29223498702049255, 0.25851115584373474, 0.5093228816986084, 0.2120477706193924, 0.011816650629043579, 0.32109785079956055, 0.6261444687843323, 0.3324955403804779, 0.19865617156028748, 0.21709275245666504, 0.31698861718177795, 0.028583453968167305], "count": [1000]}, "actions": {"min": [-0.05447709187865257, -2.0680668354034424, 0.40796998143196106, 1.2258723974227905, -0.9350391030311584, -1.6776806116104126, -0.004644022788852453, -0.7344774603843689, -1.7910126447677612, 0.28126075863838196, 0.7977928519248962, -0.8670709133148193, -1.81547212600708, -0.0003706269199028611], "max": [0.5502287149429321, -0.3708217442035675, 1.5877209901809692, 2.649148941040039, 0.9903913140296936, -1.0594054460525513, 0.07205694913864136, 0.41209855675697327, -0.0024117587599903345, 1.5141828060150146, 1.3842798471450806, -0.2033243626356125, -0.7861470580101013, 0.07701817899942398], "mean": [0.1920660436153412, -1.3808772563934326, 1.0327974557876587, 1.8489398956298828, -0.33553168177604675, -1.5252671241760254, 0.03876984119415283, -0.023916317149996758, -0.6353113055229187, 0.7350552082061768, 1.0691041946411133, -0.5181567668914795, -1.4662967920303345, 0.035114169120788574], "std": [0.20867714285850525, 0.48247480392456055, 0.29197317361831665, 0.2679680287837982, 0.5197443962097168, 0.2134036272764206, 0.031518708914518356, 0.32328927516937256, 0.6264922022819519, 0.3322642147541046, 0.19887244701385498, 0.2178196907043457, 0.3177943229675293, 0.03125489130616188], "count": [1000]}, "timestamp": {"min": [0.0], "max": [49.95], "mean": [24.975], "std": [14.433749512860475], "count": [1000]}, "frame_index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}, "index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}}}
2
+ {"episode_index": 1, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9921568627450981]]], "mean": [[[0.48181586293142986]], [[0.48343968402419446]], [[0.4401789896514161]]], "std": [[[0.2199138333664]], [[0.22785348598179356]], [[0.24797001226960494]]], "count": [114]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5828804699145741]], [[0.5528134424091274]], [[0.45882053735236783]]], "std": [[[0.23794828395163783]], [[0.2730969719059114]], [[0.31552442231693983]]], "count": [114]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5737804992976723]], [[0.5653694369195046]], [[0.4914743363719757]]], "std": [[[0.24307899452100534]], [[0.26404660296973126]], [[0.2950827858982636]]], "count": [114]}, "state": {"min": [0.0558861680328846, -1.665331482887268, 0.15545128285884857, 1.2376973628997803, -0.5994887948036194, -1.7793927192687988, -5.658493682858534e-05, -0.6830319762229919, -1.7935073375701904, 0.013923857361078262, 1.1503394842147827, -0.700579822063446, -1.3658732175827026, 0.0005633982946164906], "max": [0.5819409489631653, -0.20809490978717804, 1.0915923118591309, 1.8492027521133423, -0.09822995215654373, -1.7729076147079468, 0.06978828459978104, -0.08449683338403702, 0.17376211285591125, 1.2121385335922241, 1.1602579355239868, 0.14095520973205566, -0.9573128819465637, 0.06861311197280884], "mean": [0.26707765460014343, -1.036064863204956, 0.747750461101532, 1.6170121431350708, -0.40592098236083984, -1.7751901149749756, 0.059406835585832596, -0.32519033551216125, -0.7438698410987854, 0.5404808521270752, 1.1546567678451538, -0.3651829659938812, -1.1667683124542236, 0.05263512209057808], "std": [0.1567200869321823, 0.35438963770866394, 0.2234880030155182, 0.15430568158626556, 0.0966368019580841, 0.0009819165570661426, 0.015388249419629574, 0.19338028132915497, 0.6704872846603394, 0.3461906909942627, 0.0008843581890687346, 0.24496379494667053, 0.11215846985578537, 0.01652001030743122], "count": [557]}, "actions": {"min": [0.053932007402181625, -1.6685124635696411, 0.16044780611991882, 1.2303575277328491, -0.5990706086158752, -1.7774075269699097, -0.004334472585469484, -0.6872745156288147, -1.8011810779571533, 0.009377655573189259, 1.1547520160675049, -0.7102991342544556, -1.3707647323608398, -0.00040814047679305077], "max": [0.5845964550971985, -0.20418137311935425, 1.093063235282898, 1.8528989553451538, -0.06852260231971741, -1.7742587327957153, 0.07221219688653946, -0.08384483307600021, 0.1744573563337326, 1.2220284938812256, 1.1550904512405396, 0.20004068315029144, -0.9565776586532593, 0.07710213214159012], "mean": [0.2653718590736389, -1.0350580215454102, 0.7488134503364563, 1.6184372901916504, -0.40409865975379944, -1.7750004529953003, 0.05056411772966385, -0.322875052690506, -0.740668773651123, 0.5401226282119751, 1.154906988143921, -0.36263588070869446, -1.169021725654602, 0.04440142959356308], "std": [0.1584884077310562, 0.35869500041007996, 0.22254303097724915, 0.15552595257759094, 0.10027676075696945, 0.0008380034705623984, 0.02662365697324276, 0.19554220139980316, 0.6746057868003845, 0.3477686941623688, 7.304798782570288e-05, 0.2486920803785324, 0.11427896469831467, 0.02581997960805893], "count": [557]}, "timestamp": {"min": [0.0], "max": [27.8], "mean": [13.9], "std": [8.039589541761446], "count": [557]}, "frame_index": {"min": [0], "max": [556], "mean": [278.0], "std": [160.7917908352289], "count": [557]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [557]}, "index": {"min": [1000], "max": [1556], "mean": [1278.0], "std": [160.7917908352289], "count": [557]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [557]}}}
3
+ {"episode_index": 2, "stats": {"base_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4929159291897421]], [[0.511278658696303]], [[0.4828875417851619]]], "std": [[[0.22588531125524253]], [[0.2317290448268524]], [[0.23569041007444633]]], "count": [131]}, "left_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666854060644614]], [[0.5663620372449234]], [[0.5128815156787906]]], "std": [[[0.27008366488879176]], [[0.2760998806111696]], [[0.2872596566822236]]], "count": [131]}, "right_wrist_0_rgb": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4982016087287332]], [[0.520281008332086]], [[0.5266258294666467]]], "std": [[[0.3532054995748471]], [[0.345774467964109]], [[0.31516602278184697]]], "count": [131]}, "state": {"min": [-0.23212787508964539, -1.6664758920669556, 0.361829549074173, 1.1621652841567993, -1.190394401550293, -1.5749218463897705, 0.00012832446373067796, -0.8592736721038818, -2.0403220653533936, 0.10967422276735306, -0.4068436622619629, -0.7829785346984863, -1.0736628770828247, 0.0005564659368246794], "max": [0.5567635893821716, -0.3114747703075409, 1.054207682609558, 1.6783016920089722, 0.44422826170921326, -1.0648889541625977, 0.06894080340862274, 0.6261920928955078, -0.01773861236870289, 1.3818951845169067, 0.6387808322906494, 0.6124590039253235, 0.49229419231414795, 0.06834249198436737], "mean": [0.19953925907611847, -0.9188531041145325, 0.7817723155021667, 1.3954942226409912, -0.46433553099632263, -1.1727336645126343, 0.05643687769770622, -0.0034514996223151684, -0.9790169596672058, 0.712519109249115, 0.3003045618534088, -0.08927115797996521, -0.4390275180339813, 0.010661354288458824], "std": [0.2652027904987335, 0.4146857261657715, 0.14442908763885498, 0.1506403237581253, 0.4295705258846283, 0.08509884029626846, 0.012387960217893124, 0.49433228373527527, 0.7678272128105164, 0.3564838171005249, 0.4138587713241577, 0.41858425736427307, 0.5644428730010986, 0.016378479078412056], "count": [672]}, "actions": {"min": [-0.2879239320755005, -1.667448878288269, 0.3631579577922821, 1.163033127784729, -1.2006723880767822, -1.5739719867706299, -0.004901769105345011, -0.8683407306671143, -2.0659902095794678, 0.09452258050441742, -0.4069634974002838, -0.8135941624641418, -1.077043056488037, -0.000711991626303643], "max": [0.5577398538589478, -0.3097623884677887, 1.0557862520217896, 1.6917201280593872, 0.441076397895813, -1.0655744075775146, 0.07194900512695312, 0.627305269241333, 0.010791794396936893, 1.3970370292663574, 0.6389209628105164, 0.5659101009368896, 0.526353120803833, 0.07409875839948654], "mean": [0.19788525998592377, -0.9199803471565247, 0.7832600474357605, 1.3947380781173706, -0.4650929868221283, -1.1696851253509521, 0.04300643131136894, -0.004442357923835516, -0.9787155389785767, 0.7122393846511841, 0.2932436466217041, -0.09382440894842148, -0.43201300501823425, 0.007605110760778189], "std": [0.26798608899116516, 0.4146481454372406, 0.14267118275165558, 0.1526792347431183, 0.4321531057357788, 0.07906344532966614, 0.025385504588484764, 0.5007787942886353, 0.7716884613037109, 0.3593800663948059, 0.4177401661872864, 0.41366463899612427, 0.5683330297470093, 0.01822047121822834], "count": [672]}, "timestamp": {"min": [0.0], "max": [33.55], "mean": [16.775], "std": [9.699473782977439], "count": [672]}, "frame_index": {"min": [0], "max": [671], "mean": [335.5], "std": [193.98947565954876], "count": [672]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [672]}, "index": {"min": [1557], "max": [2228], "mean": [1892.5], "std": [193.98947565954876], "count": [672]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [672]}}}
meta/info.json ADDED
@@ -0,0 +1,172 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.1",
3
+ "robot_type": "ptk",
4
+ "total_episodes": 3,
5
+ "total_frames": 2229,
6
+ "total_tasks": 1,
7
+ "total_videos": 9,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 20,
11
+ "splits": {
12
+ "train": "0:3"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "base_0_rgb": {
18
+ "dtype": "video",
19
+ "shape": [
20
+ 480,
21
+ 640,
22
+ 3
23
+ ],
24
+ "names": [
25
+ "height",
26
+ "width",
27
+ "channel"
28
+ ],
29
+ "info": {
30
+ "video.height": 480,
31
+ "video.width": 640,
32
+ "video.codec": "av1",
33
+ "video.pix_fmt": "yuv420p",
34
+ "video.is_depth_map": false,
35
+ "video.fps": 20,
36
+ "video.channels": 3,
37
+ "has_audio": false
38
+ }
39
+ },
40
+ "left_wrist_0_rgb": {
41
+ "dtype": "video",
42
+ "shape": [
43
+ 480,
44
+ 640,
45
+ 3
46
+ ],
47
+ "names": [
48
+ "height",
49
+ "width",
50
+ "channel"
51
+ ],
52
+ "info": {
53
+ "video.height": 480,
54
+ "video.width": 640,
55
+ "video.codec": "av1",
56
+ "video.pix_fmt": "yuv420p",
57
+ "video.is_depth_map": false,
58
+ "video.fps": 20,
59
+ "video.channels": 3,
60
+ "has_audio": false
61
+ }
62
+ },
63
+ "right_wrist_0_rgb": {
64
+ "dtype": "video",
65
+ "shape": [
66
+ 480,
67
+ 640,
68
+ 3
69
+ ],
70
+ "names": [
71
+ "height",
72
+ "width",
73
+ "channel"
74
+ ],
75
+ "info": {
76
+ "video.height": 480,
77
+ "video.width": 640,
78
+ "video.codec": "av1",
79
+ "video.pix_fmt": "yuv420p",
80
+ "video.is_depth_map": false,
81
+ "video.fps": 20,
82
+ "video.channels": 3,
83
+ "has_audio": false
84
+ }
85
+ },
86
+ "state": {
87
+ "dtype": "float32",
88
+ "shape": [
89
+ 14
90
+ ],
91
+ "names": {
92
+ "motors": [
93
+ "left_waist",
94
+ "left_shoulder",
95
+ "left_elbow",
96
+ "left_forearm_roll",
97
+ "left_wrist_angle",
98
+ "left_wrist_rotate",
99
+ "left_gripper",
100
+ "right_waist",
101
+ "right_shoulder",
102
+ "right_elbow",
103
+ "right_forearm_roll",
104
+ "right_wrist_angle",
105
+ "right_wrist_rotate",
106
+ "right_gripper"
107
+ ]
108
+ },
109
+ "fps": 50.0
110
+ },
111
+ "actions": {
112
+ "dtype": "float32",
113
+ "shape": [
114
+ 14
115
+ ],
116
+ "names": {
117
+ "motors": [
118
+ "left_waist",
119
+ "left_shoulder",
120
+ "left_elbow",
121
+ "left_forearm_roll",
122
+ "left_wrist_angle",
123
+ "left_wrist_rotate",
124
+ "left_gripper",
125
+ "right_waist",
126
+ "right_shoulder",
127
+ "right_elbow",
128
+ "right_forearm_roll",
129
+ "right_wrist_angle",
130
+ "right_wrist_rotate",
131
+ "right_gripper"
132
+ ]
133
+ },
134
+ "fps": 50.0
135
+ },
136
+ "timestamp": {
137
+ "dtype": "float32",
138
+ "shape": [
139
+ 1
140
+ ],
141
+ "names": null
142
+ },
143
+ "frame_index": {
144
+ "dtype": "int64",
145
+ "shape": [
146
+ 1
147
+ ],
148
+ "names": null
149
+ },
150
+ "episode_index": {
151
+ "dtype": "int64",
152
+ "shape": [
153
+ 1
154
+ ],
155
+ "names": null
156
+ },
157
+ "index": {
158
+ "dtype": "int64",
159
+ "shape": [
160
+ 1
161
+ ],
162
+ "names": null
163
+ },
164
+ "task_index": {
165
+ "dtype": "int64",
166
+ "shape": [
167
+ 1
168
+ ],
169
+ "names": null
170
+ }
171
+ }
172
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "anonymous task"}
videos/chunk-000/base_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fb2ad8c0c5630f9ae8bee6cd3f7c41bab6056bb518efa1da6f8579565871cce
3
+ size 5130275
videos/chunk-000/base_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:578ec0d176daf4597af3e5433c1d95c3939a60258ccccd17c8702296f9baaf3f
3
+ size 3037156
videos/chunk-000/base_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8bfb8f880866e4ce8cc38dd240aecf0e0cfe1c9657a33194bd363ed86982ee1
3
+ size 3363032
videos/chunk-000/left_wrist_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e6217326dda7cf10b29b08e91b41db161c5063bca49ccfeeebb556ffb301a3e
3
+ size 6215141
videos/chunk-000/left_wrist_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51d351cfba5607e38308f263f94bcae3dd9e532d96e4ad56d4c76f0515619237
3
+ size 3663184
videos/chunk-000/left_wrist_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:92ac0b21ea0b0f7ad5983eb243c653f8de6193e67be5dda9e9286c582ab1aee1
3
+ size 3399511
videos/chunk-000/right_wrist_0_rgb/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c3eeafe4998805b4542edecaaccf9754936e90260f4a30e4f02ab0950e49d26e
3
+ size 8979417
videos/chunk-000/right_wrist_0_rgb/episode_000001.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:87fddeb779819549f2ae7ac0db7cdb6ce81966f1e545ae9b71d20852aace6e31
3
+ size 3015266
videos/chunk-000/right_wrist_0_rgb/episode_000002.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26b2545281b58398ac6d17200dde11be6e584c1aeeab1aa42bbb6465e05c7190
3
+ size 5006218